Brushless permanent magnet wheel motor with variable axial rotor/stator alignment

ABSTRACT

A brushless permanent magnet electric machine with a fixed radial air gap is operated to a much higher speed than normal maximum speed by the reduction in effective magnet pole strength. Permanent magnets are supported on the inner surface of an axially movable cylindrical shell. A plurality of magnetic poles provided with wire coils are supported on a stationary cylindrical member cooperate with the permanent magnets on the axially movable cylindrical shell to either cause, or react to, rotation of the axially movable cylindrical shell. The axially movable cylindrical shell and cylindrical member are coaxial. The cylindrical shell is axially movable with respect to the cylindrical member.

TECHNICAL FIELD

The present invention relates primarily to electric drive systems formotor vehicles. More particularly, the present invention relates tobrushless permanent magnet wheel motor designs that are configured to beused as hub motors in motor vehicles and to brushless permanent magnetalternator designs that can be used in wind turbine generators systemsand motors for marine craft. Even more particularly, the presentinvention relates to brushless permanent magnet motor and alternatordesigns that allow for variable axial rotor/stator or rotator/armaturealignment.

BACKGROUND ART

In response to environmental concerns it has been the goal of theautomobile industry to develop motor vehicles that use less fossil fuel.While the use of electric vehicles will completely eliminate the use offossil fuels, there are a number of disadvantages associated withdesigns that incorporate electric motors into the drive systems of motorvehicles, including both fully electric vehicles and hybrid vehicleswhich utilize a combination of fossil fueled engines and electricmotors.

Following conventional designs of combustion engine driven vehicles,electric vehicles and particularly hybrid vehicles typically include atleast one (and sometimes two) drive axle which distributes kineticenergy from an electric motor to the vehicle wheels. In order to ensuresmooth and accurate performance of such operations as transmitting therotation of the motor to the wheels, varying the relative rates ofrotation of laterally opposite wheels, thereby enabling the vehicle toturn a corner or for transferring rotational force from a wheel thatlooses traction, it is necessary to include power transmission devicessuch as reduction and differential gear systems and accessorial devicessuch as drive shafts, etc. for coupling the power transmission devicesto the wheels.

The power transmission devices and accessorial devices entail not onlyadditional weight, but also effect the efficiency of power transmissionwhich increases a vehicle's energy consumption and decreases the drivingrange of the vehicle. It is widely known that fully electric vehiclesinherently have limited driving ranges because of limitations on storagebatteries, and that concerns about short driving ranges constitutes oneof the major factors that prevents such vehicles from being readilyaccepted by the general public.

Direct-drive type motor wheels eliminate the use of reduction anddifferential gear systems and accessorial devices such as drive shafts,etc. and thereby decrease vehicle weight and improve efficiency.Direct-drive type motor wheels fall into two categories—those havingwheels mechanically interlocked to the motor and those incorporating themotors into the wheels.

Direct-drive type motor wheels require electronic control systems tocoordinate the operation of the individual motors. Control is howevergenerally limited by the characteristics of the electric motors andgenerally involves merely varying the electrical energy supplied to theindividual motors.

Conventional permanent magnet motors are capable of applying high outputtorques up to an rpm limit called the base speed. The base speed rpm isgoverned by the phenomena of permanent magnet motors building up“back-emf” electrical potentials as rotational speeds increase. Theback-emf is governed by the magnetic gap flux density, number of windingturns, and rotational speed. As the rotational speed of a permanentmagnet motor increases, the back-emf will build up until it equals thesupplied voltage. Once the back-emf equals the supplied voltage,permanent magnet motors will not operate any faster. This back-emf rpmlimiting characteristic protects permanent magnet motors from the overspeed damage that is common with series wound electrical motors. Theback-emf base speed characteristic that protects permanent magnet motorsalso tends to limit the dynamic rpm range.

In order to accelerate from rest or from low speeds, many electricvehicles have a fixed reduction drive ratio that is set for high torque.While such configurations provide the necessary high torque to overcomeinertia, it results in a low base speed and a limited top speed. Inaddition to a low speed, constant torque operation, it is desirable formany motor vehicles to also have an upper range of constant power, wherespeed can increase with decreased torque requirements.

There are methods by which to operate a brushless permanent magnet motoror other motor type beyond the base speed. These methods can be broadlyclassified as either those using electrical means or those usingmechanical means.

Methods of electrically enhancing speed or varying magnet flux includehigh current switching of additional phase coils or switching the waythe phase coils are connected. The costs of such contactors and theircontact wear tend to negate the advantages of a high durabilitybrushless motor. Supplemental flux weakening coils have also been usedto reduce stator flux and increase speed. This latter approach typicallyrequires contactors and increases heating effects in the stator. Othermethods can achieve higher speed operation by varying the waveform shapeand pulse angle of the applied driving current or voltage.

Other known methods include the use of DC/DC amplifier circuitry toboost the supply voltage in order to achieve a higher motor speed. Thismethod increases system costs and decreases reliability and efficiency.Such electrical approaches to increasing a motor's base speed areexemplified in U.S. Pat. No. 5,677,605 to Cambier et al., U.S. Pat. No.5,739,664 to Deng et al. and U.S. Pat. No. 4,546,293 to Peterson et al.

Mechanical approaches to increasing a motor's base speed includeconfigurations that vary the radial air gap between a tapered or conicalrotor and stator. U.S. Pat. Nos. 829,975 and 1,194,645 to Lincolndisclose a conical rotor and shaft that is moved axially by a worm gearto adjust air gap and speed. U.S. Pat. No. 3,648,090 to Voin and U.S.Pat. No. 4,920,295 to Holden et al. each disclose a conical rotor in analternator that is adjusted axially to vary air gap and the alternatoroutput. U.S. Pat. No. 5,627,419 to Miller discloses a conical rotor thatis moved axially to increase air gap and reduce magnetic drag on aflywheel energy storage system when the motor is not energized. In allof these patents, the rotor and stator remain engaged and changes in themagnetic air gap is achieved by small axial movements.

U.S. Pat. No. 3,250,976 to McEntire discloses motor stator coils of anAC induction motor that are moved axially between shorted andnon-shorted portions of a dual rotor to vary speed. McEntire requirescomplex multiple lead screws or ball screws to effect stator movementand a double length rotor.

U.S. Pat. No. 5,821,710 to Masuzawa et al. discloses a magnet rotor thatis split into two sections. For normal slow speed operation, themagnetic north and south poles of both rotor sections are aligned. Asmotor speed increases, centrifugal weights rotate one rotor section sothe magnetic poles have increasing misalignment with speed. The magneticpole misalignment causes a reduction in magnetic flux and back-emf,which allows the motor to run faster than normal base speed. This systemis self contained, but requires a split rotor and the centrifugalapparatus to move the one rotor segment into misalignment. The strongrepulsive forces of like magnet poles produce thrust to push the rotorsegments apart. When the poles are misaligned, the attractive forces ofunlike magnetic poles add to the centrifugal positioning force andoverride the springs used to restore the alignment position. Thesefactors add to the complicated design and effect durability, and cost.

U.S. Pat. No. 6,194,802 to Rao discloses a pancake type motor that usesa fixed axial air gap. In this type of motor the axial gap isfunctionally equivalent to the radial gap in an internal cylindricalrotor motor design with a radial air gap. The individual magnet sectorsin the rotor are mounted on spring loaded radial tracks. When the rotorrpm increases, centrifugal force causes the magnet sectors to extendradially, reducing the active area of magnet aligned with the statorcoil and reducing the back-emf. This causes the motor to run faster thanthe base speed. Rao is similar to Masuzawa et al. and Holden et al.mentioned above in the centrifugal method of activation. The design ofRao requires extensive machining of the radial magnet tracks whichincreases costs and adds to the complexity. In addition, maintaining asufficient level of balance of this magnet rotor is complicated byseveral factors. Even after the rotor is balanced with the magnets attheir inboard position, as speed increases the position of theindividual magnets is affected by difference in mass of the magnets,spring constants/rates, and sliding friction of the magnets along thetracks. Small variations in the resultant in the individual magnetpositions would have a disastrous effect on the balance at high rotorspeeds. These factors would necessarily adversely affect the ability toreduce back-emf of the motor and operate above the base speed.

U.S. Pat. Nos. 6,492,453 and 6,555,941 to Lawrence P. Zepp and Jerry W.Medlin discloses brushless permanent magnet motors (or alternators) withvariable axial rotor/stator alignment to increase speed capability.These patents describe brushless permanent magnet electrical machineshaving a rotor that is provided with a plurality of permanent magnets ata peripheral surface thereof and which is coaxially aligned with astator. The rotor is coupled a rotatable shaft and the assembly isprovided with means for moving the rotor with respect to the statoralong the rotatable shaft.

The present invention provides unique configurations of brushlesspermanent magnet motor and alternator designs that allow for variableaxial rotor/stator or rotator/armature alignment and uniqueapplications.

DISCLOSURE OF THE INVENTION

According to various features, characteristics and embodiments of thepresent invention which will become apparent as the description thereofproceeds, the present invention provides a brushless permanent magnetelectrical machine which comprises:

-   -   a first cylindrical member having a central axis, an inner        cylindrical surface and an outer cylindrical surface and a        plurality of magnetic poles extending outward from the outer        cylindrical surface of the first cylindrical member, the        plurality of magnetic poles provided with wire coils around each        of the plurality of magnetic poles;    -   a second cylindrical member having a central axis, an inner        cylindrical surface and an outer cylindrical surface and a        plurality of permanent magnets coupled to the inner cylindrical        surface of the second cylindrical member, the second cylindrical        member surrounding the first cylindrical member so that the        plurality of magnet poles and the plurality of permanent magnets        are adjacent and spaced apart from one another radially and the        central axis of the second cylindrical member and the central        axis of the first cylindrical member coincide and define a        common central axis;    -   a rotatable shaft that is coaxial with the common axis; and    -   means for moving the second cylindrical member with respect to        the first cylindrical member along the common central axis.

According to the present invention, the brushless permanent magnetelectrical machine is used in combination with a motor vehicle, a powergenerating system including a wind power generator/alternator and watercraft.

The present invention further provides a motor vehicle comprising aplurality of wheels, at least one of said plurality of wheels coupled toa hub motor that comprises:

-   -   a stator having a central axis, an inner cylindrical surface and        an outer cylindrical surface and a plurality of magnetic poles        extending outward from the outer cylindrical surface of the        stator, the plurality of magnetic poles provided with wire coils        around each of the plurality of magnetic poles;    -   a rotator having a central axis, an inner cylindrical surface        and an outer cylindrical surface and a plurality of permanent        magnets coupled to the inner cylindrical surface of the rotator,        the rotator surrounding the stator so that the plurality of        magnet poles and the plurality of permanent magnets are adjacent        and spaced apart from one another radially and the central axis        of the rotor and the central axis of the stator coincide and        define a common central axis;    -   a rotatable shaft that is coaxial with the common axis; and    -   means for moving the rotor with respect to the stator along the        common central axis.

BRIEF DESCRIPTION OF DRAWINGS

The present invention will be described with reference to the attacheddrawings which are given as non-limiting examples only, in which:

FIG. 1 is a graph depicting the relationship between speed and torquefor a typical air gap motor of the present invention.

FIG. 2 is a cross-sectional view of permanent magnet electric motoraccording to one embodiment of the present invention in which the rotoris fully engaged with the stator.

FIG. 3 is a cross-sectional view the permanent magnet electric motor ofFIG. 2 in which the rotor is about 50% disengaged with the stator.

FIG. 4 is a cross-sectional end view of a stator, rotor and constantvelocity bearing taken along section line IV—IV in FIG. 2.

FIG. 5 is a cross-sectional end view of a stator, rotor and constantvelocity bearing taken along section line V—V in FIG. 2.

FIG. 6 according to another embodiment of the present invention in whichthe rotor is fully engaged with the stator.

FIG. 7 is a cross-sectional view the permanent magnet electric motor ofFIG. 6 in which the rotor is about 50% disengaged with the stator.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention is directed to brushless permanent magnet wheelmotor designs that are configured to be used as hub motors in motorvehicles and to brushless permanent magnet alternator designs that canbe used in wind turbine generators systems and motors for water craft.Even more particularly, the present invention relates to brushlesspermanent magnet motor and alternator designs that allow for variableaxial rotor/stator or rotator/armature alignment.

The present invention provides separate brushless permanent magnetmotors for one or more wheels of a wheeled vehicle. Each wheel motoraccording to the present invention includes a motor shaft which are iscoupled to separate wheel hub, wheel rim or other structure thatsupports a tire thereon for rotation therewith.

The motor shaft is supported within a stator by housing structure forrotational movement within the stator and is coupled to the stator so asto prevent relative axial movement between the motor shaft and thestator. The stator comprises a stator ring which includes or supports aplurality of stator teeth along an outer periphery of the stator ring.The stator teeth have convex outer surfaces, are evenly spaced along theperiphery of the stator ring, and are provided with wire coils that arewound around the stator teeth and selectively energized to create themagnetic forces that cause the motor shaft to rotate.

The motor shaft supports a rotor shell for rotational movement withrespect to the stator. The rotor shell includes a plurality of permanentmagnets positioned along an inner surface which face the convex outersurfaces of the stator teeth, so that when the wire coils providedaround the stator teeth are selectively energized to create magneticfields that attract and/or repel the permanent magnets on the innersurface of the rotor shell, the rotor shell rotates about the statorring.

The rotor shell is coupled to the motor shaft by a constant velocitybearing which allows the rotor shell to move axially with respect to themotor shaft and allows the stator to transmit rotational motion to themotor shaft.

The constant velocity bearing allows axial displacement of the rotorshell with respect to the stator ring which is held in a stationary orfixed position with respect to the rotor, with the motor shaft beingaxially fixed but rotatable with respect to the stator and rotatablyfixed but axially movable with respect to the rotor. As the rotor shellis offset into greater misalignment with the stator ring, the magnetflux on the stator field coils is reduced, reducing the back emf thatlimits rotational speed. With the rotor shell misaligned, the motoroperates in constant power mode, where available torque is inverselyproportional to speed. The rotor shell can be moved axially by ahydraulic, electromechanical, manual, or other actuator means connectedto a lever or other means.

FIG. 1 is a graph depicting the relationship between speed and torquefor a typical air gap motor of the present invention. In FIG. 1 themotor torque, which increases through a minimum torque up to a maximumtorque for a given motor, is plotted against motor speed. The minimumtorque is the torque required to drive the motor when the back emf istheoretically reduced to zero. The motor's base speed, which asdiscussed above is that speed at which back emf equals applied voltage,is shown on the horizontal axis of the graph in FIG. 1. Below the motorbase speed a constant torque mode is shown. Above the base speed, and upto the motor maximum speed, a constant power mode is shown. In thislatter mode, as the torque is lowered current increases resulting in aspeed increase. The constant power mode is the motor speed addressed inthe present invention.

FIG. 2 is a cross-sectional view of permanent magnet electric motoraccording to one embodiment of the present invention in which the rotoris fully engaged with the stator. The permanent magnet motor includes amotor shaft 1 that is coupled at one end to a structure identified byreference numeral 2 that represents a hub, wheel rim or other structurethat supports a tire thereon for rotation therewith. The motor shaft 1is supported in a housing 3 by bearing assemblies 4 which include radialball bearings 5. Other conventional bearing assemblies can also be used.The motor shaft 1 is supported in a manner that allows the motor shaft 1to rotate within the housing 3, but restricts axial movement of themotor shaft 1 within the housing 3.

The motor shaft 1 depicted in FIG. 2 includes a stepped portion 6 which,is configured to allow ball bearings 30 to be placed between the motorshaft 1 and rotor pedestal collar 8 as discussed in more detail below.

The stator 10 is supported in housing 3 on a cylindrical support 11 thatis coupled to the outer wall 12 of housing 3 by one or more annularbraces 13 which support the stator 10 so that there is an annular spacebetween the stator 10 and the outer wall 12 of the housing 3 in whichspace the rotor 15 can be movable positioned.

The stator 10 includes a stator ring 16 that includes or supports aplurality of stator teeth 17 along an outer periphery of the stator ring16. The stator teeth 17 have convex outer surfaces 18 (See FIG. 4), areevenly spaced along the periphery of the stator ring, and are providedwith wire coils 19 that are wound around the stator teeth 17 andselectively energized to create the magnetic forces that cause the motorshaft 1 to rotate.

The rotor 15 comprises an annular outer shell 21 having a plurality ofpermanent magnets 22 that are attached to an inner surface of theannular outer shell 21 so as to be opposed to the stator teeth 17. Thepermanent magnets 22 can be attached to the inner surface of the annularouter shell 21 using suitable adhesives, cements, glues, epoxies, etc.The surfaces 23 (See FIG. 4) of the permanent magnets 22 which face theconvex outer surfaces 18 of the stator teeth 17 are concave to becomplementarily shaped to the convex outer surfaces 18 of the statorteeth 17. The annular outer shell 21 of the rotor 15 is coupled to rotorpedestal 24 and positioned so that there is a minimum gap between theouter surfaces 18 of the stator teeth 17 and the inner surfaces 23 ofthe permanent magnets 22.

Rotor pedestal 24 includes pedestal collar 8 and a radially extendingportion 25 that supports the annular outer shell 21 of the rotor 15. Theradially extending portion 25 can comprise a continuous disc-shapedstructure or a plurality of radially extending spokes. In the embodimentof the invention depicted in FIGS. 2–6 the radially extending portion 25of the rotor pedestal 24 is a continuous disc shaped structure and theannular outer shell 21 of the rotor 15 is integrally formed on an outerportion of the radially extending portion 25 of the rotor pedestal 24.It is noted that in FIGS. 2–6 the radially extending portion 25 of therotor pedestal 24 is configured to provide any necessary clearance forwire coils 19 that are wound around the stator teeth 17.

The rotor pedestal 24 which supports the rotor 15 is coupled to motorshaft 1 by a plurality of ball bearings 30. The ball bearings 30 arecontained within a plurality of axial grooves 31 that are provided on aninner surface of the pedestal collar 8. The ends of grooves 31 areblocked by retaining rings (not shown) or other structural elements toprevent the ball bearings 30 from coming out of grooves 31. The ballbearings 30 are allowed to move axially in a plurality of axial grooves32 that are formed in the outer surface of the motor shaft 1. Ballbearings 30 couple motor shaft 1 and pedestal collar 8 together toprovide a constant velocity linear bearing between the motor shaft 1 andthe rotor 15. The ball bearings 30 can be inserted within opposedgrooves 31 and 32 during assembly by positioning motor shaft 1 so thatthe stepped portion 6 of motor shaft 1 is aligned within pedestal collar8.

The constant velocity linear bearing allows the rotor 15 to be movedaxially with respect to stator 10 by moving the pedestal collar 8axially along the motor shaft 1. Movement of the pedestal collar 8 alongmotor shaft 1 can be accomplished by means of an actuator mechanism.

The actuator mechanism in FIG. 2 includes a hollow cylindrical leadscrew 35 that is rotatably supported by bearings 36 on an annularcentral housing portion 37 of the housing 3. The hollow cylindrical leadscrew 35 is rotationally driven by a reversible motor 38 that rotates agear element 39 provided on a shaft of the reversible motor 38. The gearelement 39, such as a worm wheel, cooperatively engages and rotates acylindrical gear element 40, such as a worm gear, that is coupled to oneend of the hollow cylindrical lead screw 35. A thrust bearing 41 isprovided adjacent the end of the hollow cylindrical lead screw 35 andcooperates with bearings 36 to facilitate the rotation of hollowcylindrical lead screw 35 with respect to the annular central housingportion 37.

The inner surface of the hollow cylindrical lead screw 35 is configuredto cooperate with bearings, e.g. needle bearings, to allow hollowcylindrical lead screw 35 to rotate about annular central housingportion 37. The outer surface of hollow cylindrical lead screw 35includes exterior threads 44 (as shown in dashed lines). The exteriorthreads 44 formed on the outer surface of hollow cylindrical lead screw35 cooperate with interior threads 45 (as shown in dashed lines) formedon an inner surface of a cylindrical shift sleeve 46 that is threadedlycoupled to hollow cylindrical lead screw 35. The cylindrical shiftsleeve 46 includes a forward end 47 that is coupled to a portion ofrotor pedestal 24 by a thrust bearing 48. The cylindrical shift sleeve46 also includes at least one anti-rotation pin 49 that is received aslot 50 provided in a bracket 51 that is fixed to a non-rotating portionof the housing 1, such as cylindrical support 11.

In operation, reversible motor 38 is activated to rotate cylindricallead screw 35. The cooperation of the exterior threads 44 formed on theouter surface of hollow cylindrical lead screw 35 and the interiorthreads 45 formed on an inner surface of a cylindrical shift sleeve 46(and anti-rotation pin 49) cause the cylindrical shift sleeve 46 to moveaxially along the hollow cylindrical lead screw 35. Rotation ofreversible motor 38 in one direction causes the cylindrical shift sleeve46 to move axially along the hollow cylindrical lead screw 35 in onedirection, and rotation of reversible motor 38 in the opposite directioncauses the cylindrical shift sleeve 46 to move axially along the hollowcylindrical lead screw 35 in an opposite direction.

As the cylindrical shift sleeve 46 is moved axially along hollowcylindrical lead screw 35 in a forward direction, cylindrical shiftsleeve 46 pushes the rotor pedestal 24 so that pedestal collar 8 movesaxially along motor shaft 1 in that same direction. At the same time,rotor 15 moves axially with respect to stator 10 in a correspondingdirection. When cylindrical shift sleeve 46 is moved axially alonghollow cylindrical lead screw 35 in the opposite direction, magneticattraction between the stator 10 and rotor 15 causes pedestal collar 8to also move axially along motor shaft 1 in the opposite direction.

In FIG. 2, rotor 15 is fully engaged with the stator 10. In thisconfiguration the motor will produce a maximum torque but will have alimited base speed.

FIG. 3 is a cross-sectional view of permanent magnet electric motoraccording to one embodiment of the present invention in which the rotoris about 50% disengaged with the stator. A comparison between FIGS. 2and 3 reveals how the cylindrical shift sleeve 46 moves axially withrespect to the hollow cylindrical lead screw 35, while the pedestalcollar 8 moves axially with respect to the motor shaft 1 while the rotor15 moves axially with respect to the stator 10. In the configurationdepicted in FIG. 3 the motor will produce a lower torque than in theconfiguration depicted in FIG. 2, but will have a higher base speed.

FIG. 4 is a cross-sectional end view of a stator, rotor and constantvelocity bearing taken along section line IV—IV in FIG. 2. FIG. 4depicts how ball bearings 30 are received between grooves 31 formed inthe outer surface of the motor shaft 1 and grooves 32 formed in theinner surface of the pedestal collar 8. The grooves/bearings are eveningspaced about the motor shaft 1 and can include fewer or more groups ofgrooves/bearings than illustrated as desired.

An annular gap or space 52 is shown between pedestal collar 8 andannular central housing portion 37 of the housing 1. A plurality ofneedle bearings 36 are provided between hollow cylindrical lead screw 35and annular central housing portion 37 as discussed above. Another smallannular gap or space 53 is shown which is between the forward end 47 ofcylindrical shift sleeve 46 and pedestal collar in FIG. 2.

In FIG. 4 cylindrical shift sleeve 46 is shown as contacting thrustbearing 48 which includes a plurality of bearing elements 55 that arearranged in a circular pattern. The radially extending portion 25 ofrotor pedestal 24 extends radially outwardly and supports stator ring 16which can be formed from a plurality of laminations that are stacked andsecured together in known manners. Stator teeth 17 having convex outersurfaces 18 are secured in stator ring 16 and surrounded by wire coils19. Permanent magnets 22 are supported by rotor shell 21 and have innerconvex surfaces 23 which face the convex outer surfaces 18 of the statorteeth 17.

FIG. 5 is a cross-sectional end view of a stator, rotor and constantvelocity bearing taken along section line V—V in FIG. 2. FIG. 5 depictsreversible motor 38 as having a shaft 56 that is provided with a gearelement 39. The gear element 39 can comprise gear teeth formed in theshaft or a separate gear element coupled to the shaft. The gear element39 of reversible motor 38 is aligned and configured to cooperate withcylindrical gear element 40, such as a worm gear, that is coupled to oneend of the hollow cylindrical lead screw 35. Operation of the motor isdescribed able.

FIG. 6 according to another embodiment of the present invention in whichthe rotor is fully engaged with the stator. The embodiment of theinvention in FIG. 6 includes a different means for moving the rotor withrespect to the stator. In FIG. 6 the end of motor shaft 1 is hollow andreceives pushrod 60 therein. Pushrod 60 is coupled to hydraulic orpneumatic actuator 61 via a thrust bearing 62 which allows pushrod 60 torotate with motor shaft 1 and actuator 61 to move axially withoutrotating. The hollow portion of the motor shaft 1 includes a slot 63 inat least one side thereof through which a cross pin 64 can be insertedand coupled to a shift collar that is attached to or part of thepedestal collar 8. In FIG. 6 the rotor 15 is fully engaged with thestator 10.

FIG. 7 is a cross-sectional view the permanent magnet electric motor ofFIG. 6 in which the rotor 15 is about 50% disengaged with the stator 10.

The actuator used in the embodiment of the invention depicted in FIGS. 6and 7 can be any type of linear actuator including a threaded screwdriven shaft, a pinion and gear assembly, a cable system, slidingactuator, etc.

In order to accurately control the position of the rotor with respect tothe stator, a linear position encoder can be incorporated into themotors of the present invention at any convenient location where theycan be used to detect the axial position of the rotor or any axiallymoveable portion of the motor constructions.

It is noted that the unique configuration of the permanent magnet motorof the present invention which includes an outer rotor shell thatrotates and an inner stator that does not rotate maximizes the amount oftorque for the overall size of the motor. In addition, by providing themechanism to move the rotor axially with respect to the stator, themotors of the present invention are particularly useful for applicationssuch as wheel hub motors as discussed above and also wind mill and winddriven power generators such as wind turbine generators and marinevehicles including water surface vehicles and submersible vehicles. Insuch applications being able to vary the motor/generator torque allowsfor overcoming inertia and thereafter adjusting the torque for higheroperational speeds. For wind mill and wind driven power generators theability to provide a reduction in torque at start-up enhances theability to affect start-up at low wind speeds and the ability toincrease torque after start-up allows for increased power generation.For wind mill and wind driven power generators the configuration of themotors depicted in the various figures is the same with a propellercoupled to the motor shafts rather than a vehicle wheel and the rotationof the rotor by the propeller will generate electrical power in a knownmanner. For marine vehicles the configuration of the motors depicted inthe various figures is the same with a propeller coupled to the motorshafts rather than a vehicle wheel.

Although the present invention has been described with reference toparticular means, materials and embodiments, from the foregoingdescription, one skilled in the art can easily ascertain the essentialcharacteristics of the present invention and various changes andmodifications can be made to adapt the various uses and characteristicswithout departing from the spirit and scope of the present invention asdescribed above.

1. A brushless permanent magnet electrical machine which comprises: afirst cylindrical member having a central axis, an inner cylindricalsurface and an outer cylindrical surface and a plurality of magneticpoles extending outward from the outer cylindrical surface of the firstcylindrical member, the plurality of magnetic poles provided with wirecoils around each of the plurality of magnetic poles; a secondcylindrical member having a central axis, an inner cylindrical surfaceand an outer cylindrical surface and a plurality of permanent magnetscoupled to the inner cylindrical surface of the second cylindricalmember, the second cylindrical member surrounding the first cylindricalmember so that the plurality of magnet poles and the plurality ofpermanent magnets are adjacent and spaced apart from one anotherradially and the central axis of the second cylindrical member and thecentral axis of the first cylindrical member coincide and define acommon central axis; a rotatable shaft that is coaxial with the commonaxis; and means for moving the second cylindrical member with respect tothe first cylindrical member axially along the common central axis.
 2. Abrushless permanent magnet electrical machine according to claim 1,further comprising a housing that houses the first and secondcylindrical members, the rotatable shaft being rotatably coupled to thehousing the first cylindrical member being held in a fixed position inthe housing and the second cylindrical member being rotatable about thecommon central axis within the housing and axially movable within thehousing.
 3. A brushless permanent magnet electrical machine according toclaim 2, wherein the second cylindrical member is coupled to therotatable shaft by a constant velocity linear bearing.
 4. A brushlesspermanent magnet electrical machine according to claim 1, wherein themeans for moving the second cylindrical member with respect to the firstcylindrical member comprises coacting threaded members including anaxially fixed threaded member that is reversibly rotated and an axiallymovable threaded member that is prevented from rotating.
 5. A brushlesspermanent magnet electrical machine according to claim 4, furtherincluding a motor for rotating the axially fixed threaded member that isreversibly rotated.
 6. A brushless permanent magnet electrical machineaccording to claim 1, wherein the first cylindrical member comprises astator and the permanent magnet electrical machine comprises a motor. 7.A brushless permanent magnet electrical machine according to claim 1,wherein the permanent magnet electrical machine comprises one of agenerator and an alternator.
 8. A brushless permanent magnet electricalmachine according to claim 1 in combination with a vehicle in whichcombination the brushless permanent magnet electrical machine drives thevehicle.
 9. The combination of claim 8, wherein the vehicle includes aplurality of wheels and a brushless permanent magnet electrical machineaccording to claim 1 coupled to at least one of the plurality of wheels.10. The combination of claim 9, comprising a brushless permanent magnetelectrical machine coupled separately to each of the plurality ofwheels.
 11. A brushless permanent magnet electrical machine according toclaim 1 in combination with a power generating system in whichcombination the brushless permanent magnet electrical machine comprisesone of a generator and an alternator.
 12. The combination of claim 11,wherein the power generating system comprises a wind powered system. 13.A brushless permanent magnet electrical machine according to claim 1 incombination with a marine craft, in which combination the rotatableshaft of the brushless permanent magnet electrical machine is coupled tomeans to propel the marine craft.
 14. The combination of claim 13,wherein the means to propel the marine craft comprises a propeller. 15.The combination of claim 14, wherein the marine craft comprises asubmersible marine craft.
 16. A motor vehicle comprising a plurality ofwheels, at least one of said plurality of wheels coupled to a hub motorthat comprises: a stator having a central axis, an inner cylindricalsurface and an outer cylindrical surface and a plurality of magneticpoles extending outward from the outer cylindrical surface of thestator, the plurality of magnetic poles provided with wire coils aroundeach of the plurality of magnetic poles; a rotator having a centralaxis, an inner cylindrical surface and an outer cylindrical surface anda plurality of permanent magnets coupled to the inner cylindricalsurface of the rotator, the rotator surrounding the stator so that theplurality of magnet poles and the plurality of permanent magnets areadjacent and spaced apart from one another radially and the central axisof the rotor and the central axis of the stator coincide and define acommon central axis; a rotatable shaft that is coaxial with the commonaxis; and means for moving the rotor with respect to the stator axiallyalong the common central axis.
 17. A motor vehicle according to claim16, comprising a plurality of the hub motors and wherein two or more ofthe plurality of wheels are coupled to a separate ones of the pluralityof hub motors.
 18. A motor vehicle according to claim 16, furthercomprising a housing that houses the stator and rotor, the rotatableshaft being rotatably coupled to the housing, the stator being held in afixed position in the housing and the rotor being rotatable about thecommon central axis within the housing and axially movable within thehousing.